gahew

2026-09-16 09:31:20 -04:00 · 2026-04-28 19:53:10 -04:00
parent f13b85109e
commit 49f801330f
59 changed files with 686 additions and 401 deletions
@@ -0,0 +1,110 @@
+// rover Connection Service
+// Purpose: Defines the rover Connection Service module and the helpers/state used by this service unit.
+// Scope: Keeps runtime behavior unchanged while isolating responsibilities into a clear module boundary.
+const roverWSS = require('../../globals/ws');
+const logger = require('../../globals/logger').child('roverConnection');
+const roverManager = require('../roverManager');
+const { sendAlert } = require('../alertService');
+const ALERT_COLOR = '#00bcd4';
+const { handleAck } = require('../commandService');
+
+function coerceBool(value) {
+  if (typeof value === 'boolean') return value;
+  if (typeof value === 'number') return value !== 0;
+  if (typeof value === 'string') {
+    const normalized = value.trim().toLowerCase();
+    if (normalized === 'true') return true;
+    if (normalized === 'false') return false;
+    if (normalized === '1') return true;
+    if (normalized === '0') return false;
+  }
+  return null;
+}
+
+const HEARTBEAT_INTERVAL_MS = 15000;
+
+function handleMessage(roverId, msg) {
+  switch (msg.type) {
+    case 'hello':
+      roverManager.upsertRover(msg, this);
+      sendAlert({ color: ALERT_COLOR, title: 'Rover Connected', message: roverId });
+      break;
+    case 'sensor':
+      roverManager.handleSensorFrame(roverId, msg);
+      break;
+    case 'event': {
+      const nightVisionOn = coerceBool(msg.data?.nightVisionOn);
+      if (msg.event === 'nightVision.state' && nightVisionOn != null) {
+        roverManager.setNightVisionState(roverId, nightVisionOn);
+        break;
+      }
+      sendAlert({ color: ALERT_COLOR, title: `${roverId} event`, message: msg.event });
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+roverWSS.on('connection', (ws) => {
+  let roverId = null;
+  ws.isAlive = true;
+
+  const heartbeat = setInterval(() => {
+    if (!ws.isAlive) {
+      logger.warn('Rover websocket unresponsive', roverId || 'unknown');
+      ws.terminate();
+      return;
+    }
+    ws.isAlive = false;
+    ws.ping();
+  }, HEARTBEAT_INTERVAL_MS);
+
+  ws.on('pong', () => {
+    ws.isAlive = true;
+  });
+
+  ws.on('message', (raw) => {
+    ws.isAlive = true;
+    let msg;
+    try {
+      msg = JSON.parse(raw.toString());
+    } catch (err) {
+      logger.warn('Invalid rover message', err.message);
+      return;
+    }
+    if (msg.type === 'hello') {
+      roverId = msg.name;
+      logger.info('Received rover hello', {
+        roverId,
+        keys: Object.keys(msg),
+        cameraServo: msg.cameraServo,
+      });
+      roverManager.upsertRover(msg, ws);
+      roverManager.broadcastRoster();
+      sendAlert({ color: ALERT_COLOR, title: 'Rover Online', message: roverId });
+      return;
+    }
+    if (!roverId) return;
+    if (msg.type === 'sensor') {
+      roverManager.handleSensorFrame(roverId, msg);
+    } else if (msg.type === 'ack') {
+      handleAck(msg);
+    } else if (msg.type === 'event') {
+      const nightVisionOn = coerceBool(msg.data?.nightVisionOn);
+      if (msg.event === 'nightVision.state' && nightVisionOn != null) {
+        roverManager.setNightVisionState(roverId, nightVisionOn);
+      } else {
+        sendAlert({ color: ALERT_COLOR, title: `${roverId}`, message: msg.event });
+      }
+    }
+  });
+
+  ws.on('close', () => {
+    clearInterval(heartbeat);
+    if (roverId) {
+      roverManager.removeRover(roverId);
+      sendAlert({ color: ALERT_COLOR, title: 'Rover Offline', message: roverId });
+    }
+  });
+});